73 lines
2.2 KiB
C++
73 lines
2.2 KiB
C++
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_MAPPING_TRAJECTORY_NODE_H_
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#define CARTOGRAPHER_MAPPING_TRAJECTORY_NODE_H_
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#include <deque>
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#include <vector>
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#include "Eigen/Core"
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#include "cartographer/common/time.h"
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#include "cartographer/sensor/laser.h"
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#include "cartographer/transform/rigid_transform.h"
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namespace cartographer {
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namespace mapping {
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struct Submaps;
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struct TrajectoryNode {
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struct ConstantData {
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common::Time time;
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// LaserFan in 'pose' frame. Only used in the 2D case.
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sensor::LaserFan laser_fan;
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// LaserFan in 'pose' frame. Only used in the 3D case.
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sensor::CompressedLaserFan3D laser_fan_3d;
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// Trajectory this node belongs to.
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// TODO(jmason): The naming here is confusing because 'trajectory' doesn't
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// seem like a good name for a Submaps*. Sort this out.
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const Submaps* trajectory;
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// Transform from the 3D 'tracking' frame to the 'pose' frame of the
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// laser, which contains roll, pitch and height for 2D. In 3D this is
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// always identity.
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transform::Rigid3d tracking_to_pose;
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};
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common::Time time() const { return constant_data->time; }
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const ConstantData* constant_data;
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transform::Rigid3d pose;
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};
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// Users will only be interested in 'trajectory_nodes'. But 'constant_data'
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// is referenced by 'trajectory_nodes'. This struct guarantees that their
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// lifetimes are bound.
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struct TrajectoryNodes {
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std::deque<mapping::TrajectoryNode::ConstantData> constant_data;
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std::vector<mapping::TrajectoryNode> trajectory_nodes;
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};
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_TRAJECTORY_NODE_H_
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